/// <summary>
/// Converts the quaternion into a unit quaternion.
/// </summary>
public float Normalise()
{
float length = Length();
if (!Math.IsZero(length))
{
float inverse = 1.0f / length;
X *= inverse;
Y *= inverse;
Z *= inverse;
W *= inverse;
}
return(length);
}
/// <summary>
/// Turns the current vector into a unit vector.
/// </summary>
/// <remarks>
/// The result is a vector one unit in length pointing in the same direction as the original vector.
/// </remarks>
public float Normalise()
{
float length = Length;
if (!Math.IsZero(length))
{
float inv = 1.0f / length;
X *= inv;
Y *= inv;
Z *= inv;
}
return(length);
}
/// <summary>
/// Converts the quaternion into a unit quaternion.
/// </summary>
/// <returns>Normalized quaternion.</returns>
public Quaternion Normalized()
{
Quaternion result = new Quaternion(w, x, y, z);
float length = Length();
if (!Math.IsZero(length))
{
float inverse = 1.0f / length;
result.X *= inverse;
result.Y *= inverse;
result.Z *= inverse;
result.W *= inverse;
}
return(result);
}